Good restaurant for an awkward dinner

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My two divorced parents are visiting me (I live in Brooklyn) on the same weekend. This will be the first time they're interacting with each other in a long time, and they're not particular fond of each other. Can anyone recommend a restaurant that would make this (probably extremely awkward) dinner the best it can be? Needs to be in Brooklyn, nice-ish, not small/sharing plates based, and ideally servers that really know how to guide a table. help please!